CN113353061A - Four-motor-driven FSAE racing car electronic differential algorithm based on sliding mode control - Google Patents
Four-motor-driven FSAE racing car electronic differential algorithm based on sliding mode control Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/42—Electrical machine applications with use of more than one motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/463—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a sliding mode control-based electronic differential algorithm for a four-motor-driven FSAE racing car, which comprises the following steps of: constructing a two-degree-of-freedom vehicle model, and calculating an ideal yaw rate according to the two-degree-of-freedom vehicle model and vehicle sensor data; constructing a sliding mode variable controller, and calculating the required yaw moment through the sliding mode variable controller; the invention provides a torque control electronic differential algorithm of a four-motor-driven FSAE racing car based on slip film control, which not only controls torque output of inner and outer wheels during steering to improve the steering stability of the car, but also controls the yaw moment of the car to approach to a stable direction by allocating the torque of each wheel, thereby improving the limit of the racing car.
Description
Technical Field
The invention relates to the technical field of four-motor-driven FSAE racing car control, in particular to an electronic differential algorithm of a four-motor-driven FSAE racing car based on sliding mode control.
Background
The Chinese college student's equation automobile tournament is an automobile design and manufacturing competition participated in by college student teams by related specialties of higher colleges. Each racing car team designs and manufactures a small-sized single-seat leisure racing car within one year according to the racing rules and the racing car manufacturing standards, and the racing in the racing link can be successfully completed. The events are divided into oil car groups, electric car groups and unmanned car groups. The electric vehicle adopts three driving schemes of single motor, double motors and four-motor driving.
In recent years, a fleet of four-motor drives has increased year by year due to their excellent performance in terms of power, operability, and the like.
Four motors are used for driving four wheels respectively and directly, a traditional mechanical differential is omitted, when the four wheels are steered or driven on an uneven road surface, the outer wheel is required to rotate faster than the inner wheel, if the inner wheel and the outer wheel are still used for outputting the same torque, the ground gripping performance of the tires cannot be fully exerted, the vehicle can be steered excessively and understeer, the stress condition of parts of a reduction gearbox is severe, and the like, so that adverse effects are caused on the vehicle operation stability.
To solve this problem, mounting an electronic differential system on a vehicle is a main solution. In this regard, many control strategies have been applied. For example, target values of the rotating speeds of the inner wheel and the outer wheel are obtained based on an ackerman steering model, and then the rotating speed of the driving wheel is controlled by adopting PI control or sliding mode control.
Although the above work has made a great progress in improving the vehicle performance, the advantage that the four-motor-driven racing car can directly and individually control the driving torque of each wheel is not fully exerted, and the problem of whether the tire performance is fully exerted is not fully considered. Therefore, in order to improve the vehicle handling stability, it is conceivable to perform an electronic differential by using torque control. Therefore, the invention provides an electronic differential algorithm of a four-motor-driven FSAE racing car based on sliding mode control to solve the problems in the background art.
Disclosure of Invention
The invention aims to provide an electronic differential algorithm of a four-motor-driven FSAE racing car based on sliding mode control, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an electronic differential algorithm of a four-motor-driven FSAE racing car based on sliding mode control comprises the following steps:
constructing a two-degree-of-freedom vehicle model, and calculating an ideal yaw rate according to the two-degree-of-freedom vehicle model and vehicle sensor data;
constructing a sliding mode variable controller, and calculating the required yaw moment through the sliding mode variable controller;
and constructing a torque distribution algorithm, calculating the distributed torque of each required wheel, and distributing the torque.
As a further scheme of the invention: according to Newton's second law, the two-degree-of-freedom vehicle model specifically comprises:
wherein a and b are distances from the center of mass to the front and rear axes, CF，CRFor front and rear axle yaw stiffness, m, IZThe mass of the vehicle body and the rotational inertia around the Z axis, beta, gamma, delta and u are respectively a mass center slip angle, a yaw angular velocity, a front wheel corner, a longitudinal vehicle speed and a lateral vehicle speed;
when the racing car is stable, all derivative terms are zero, and the following can be obtained:
wherein the content of the first and second substances,
as a still further scheme of the invention: selecting slip form surface as actualYaw rate γ and target yaw rate γdDifference of (1), actual slip angle betadAnd target slip angle betadWherein c is a constant,
s＝(γ-γd)+c(β-βd)
after entering the slip form surface:
namely:
as a still further scheme of the invention: the formula of the yaw motion of the racing car is as follows:
simplifying to obtain:
wherein, because the required yaw moment of whole car can be provided by four wheels, namely:
will MzAnd carrying in, then:
as a still further scheme of the invention: when s' is 0, that is to say
Then obtain the ideal yaw moment MeqComprises the following steps:
as a still further scheme of the invention: in sliding mode variable structure control, the input of the control system is written as Mz＝Meq+MvsWherein M iseqThe control quantity of the sliding mode surface is obtained when the system is not influenced by any external factors, MvssThe control quantity of the system is obtained under the action of various external interferences; in order to enable the system to be fast and stable to approach the sliding mode surface, the control system approaches the sliding mode surface according to an exponential law, namely:
s' ═ ξ sgn(s) -ks, where ξ > 0 and k > 0.
As a still further scheme of the invention: the handover control function is:
Mvss＝Mz-Meq＝Iz(-ξsgn(s)-ks)
the yaw moment output is:
as a still further scheme of the invention: according to the following steps:
calculating the moment deviation of the left wheel and the right wheel required for obtaining the target yaw velocity, wherein tf，trAnd a is the front-rear wheel base and the distance from the center of mass to the front axle respectively, and R is the radius of the wheel.
As a still further scheme of the invention: the torque distribution formula is as follows:
compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a four-motor-driven FSAE racing car torque control electronic differential algorithm based on sliding mode control, which not only controls torque output of inner wheels and outer wheels during steering so as to improve the steering stability of a vehicle, but also controls the yaw moment of the vehicle to approach to a stable direction by allocating the torque of each wheel, thereby improving the limit of the racing car.
2. The sliding mode control of the invention has the advantages of quick response, insensitive corresponding parameter change and disturbance, no need of system online identification, simple physical realization and the like, can effectively reduce the influence caused by sensor interference on a controller constructed by a highly nonlinear object such as a vehicle, and has good application value.
3. The electronic differential algorithm realized by the invention can effectively improve the stability and the steering limit performance of the four-motor-driven FSAE racing car under the steering working condition.
Drawings
FIG. 1 is a flow chart of an electronic differential algorithm of a four-motor-driven FSAE racing car based on sliding mode control.
FIG. 2 is a graph of yaw rate in an electronic differential algorithm for a four-motor-driven FSAE racing car based on sliding mode control.
FIG. 3 is a graph of centroid slip angle in an electronic differential algorithm of a four-motor-driven FSAE racing car based on sliding mode control.
FIG. 4 is a graph of lateral acceleration in an electronic differential algorithm for a four motor drive FSAE racing car based on sliding mode control.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, in an embodiment of the present invention, a sliding mode control-based electronic differential algorithm for a four-motor-driven FSAE racing car includes the following steps: constructing a two-degree-of-freedom vehicle model, and calculating an ideal yaw rate according to the two-degree-of-freedom vehicle model and vehicle sensor data; constructing a sliding mode variable controller, and calculating the required yaw moment through the sliding mode variable controller; and constructing a torque distribution algorithm, calculating the distributed torque of each required wheel, and distributing the torque.
According to Newton's second law, the two-degree-of-freedom vehicle model specifically comprises:
wherein a and b are distances from the center of mass to the front and rear axes, CF，CRFor front and rear axle yaw stiffness, m, IZThe mass of the vehicle body and the rotational inertia around the Z axis, beta, gamma, delta and u are respectively a mass center slip angle, a yaw angular velocity, a front wheel corner, a longitudinal vehicle speed and a lateral vehicle speed;
when the racing car is stable, all derivative terms are zero, and the following can be obtained:
wherein the content of the first and second substances,
selecting sliding mode surfaces as an actual yaw velocity gamma and a target yaw velocity gammadDifference of (1), actual slip angle betadAnd target slip angle betadWherein c is a constant,
s＝(γ-γd)+c(β-βd)
after entering the slip form surface:
namely:
the formula of the yaw motion of the racing car is as follows:
simplifying to obtain:
wherein, because the required yaw moment of whole car can be provided by four wheels, namely:
will MzAnd carrying in, then:
when s' is 0, that is to say
Then obtain the ideal yaw moment MeqComprises the following steps:
in sliding mode variable structure control, the input of the control system is written as Mz＝Meq+MvssWherein M iseqThe control quantity of the sliding mode surface is obtained when the system is not influenced by any external factors, MvssThe control quantity of the system is obtained under the action of various external interferences; in order to enable the system to be fast and stable to approach the sliding mode surface, the control system approaches the sliding mode surface according to an exponential law, namely:
s' ═ ξ sgn(s) -ks, where ξ > 0 and k > 0.
The handover control function is:
Mvss＝Mz-Meq＝Iz(-ξsgn(s)-ks)
the yaw moment output is:
according to the following steps:
calculating the moment deviation of the left wheel and the right wheel required for obtaining the target yaw velocity, wherein tf，trAnd a is the front-rear wheel base and the distance from the center of mass to the front axle respectively, and R is the radius of the wheel.
The torque distribution formula is as follows:
finally, the carsim/simulink combined simulation shows that the electronic differential method for controlling the torque can improve the lateral limit of the racing car, reduce the mass center side drift angle and the yaw angular velocity during steering, improve the lateral stability and have practical value on the lateral control of the four-motor driven racing car.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. An electronic differential algorithm of a four-motor-driven FSAE racing car based on sliding mode control is characterized by comprising the following steps of:
constructing a two-degree-of-freedom vehicle model, and calculating an ideal yaw rate according to the two-degree-of-freedom vehicle model and vehicle sensor data;
constructing a sliding mode variable controller, and calculating the required yaw moment through the sliding mode variable controller;
and constructing a torque distribution algorithm, calculating the distributed torque of each required wheel, and distributing the torque.
2. The sliding-mode-control-based electronic differential algorithm for the four-motor-driven FSAE racing car as claimed in claim 1, wherein the two-degree-of-freedom vehicle model is specifically as follows according to Newton's second law:
wherein a and b are distances from the center of mass to the front and rear axes, CF，CRFor front and rear axle yaw stiffness, m, IZThe mass of the vehicle body and the rotational inertia around the Z axis, beta, gamma, delta and u are respectively a mass center slip angle, a yaw angular velocity, a front wheel corner, a longitudinal vehicle speed and a lateral vehicle speed;
when the racing car is stable, all derivative terms are zero, and the following can be obtained:
wherein the content of the first and second substances,
3. sliding mode control based on claim 1The electronic differential algorithm of the four-motor-driven FSAE racing car is characterized in that sliding mode surfaces are selected as an actual yaw velocity gamma and a target yaw velocity gammadDifference of (1), actual slip angle betadAnd target slip angle betadWherein c is a constant,
s＝(γ-γd)+c(β-βd)
after entering the slip form surface:
namely:
4. the sliding-mode-control-based electronic differential algorithm for the four-motor-driven FSAE racing car as claimed in claim 1, wherein the yaw motion equation of the racing car is as follows:
simplifying to obtain:
wherein, because the required yaw moment of whole car can be provided by four wheels, namely:
will MzAnd carrying in, then:
5. according to claim4, the sliding mode control-based four-motor-driven FSAE racing car electronic differential algorithm is characterized in that when s' is equal to 0, namely, the algorithm is also characterized in that
Then obtain the ideal yaw moment MeqComprises the following steps:
6. the sliding-mode control based four-motor-driven FSAE racing car electronic differential algorithm is characterized in that in sliding-mode variable structure control, an input of a control system is written as Mz＝Meq+MvssWherein M iseqThe control quantity of the sliding mode surface is obtained when the system is not influenced by any external factors, MvssThe control quantity of the system is obtained under the action of various external interferences; in order to enable the system to be fast and stable to approach the sliding mode surface, the control system approaches the sliding mode surface according to an exponential law, namely:
s' ═ ξ sgn(s) -ks, where ξ > 0 and k > 0.
7. The sliding-mode-control-based electronic differential algorithm for the four-motor-driven FSAE racing car as claimed in claim 6, wherein the switching control function is as follows:
Mvss＝Mz-Meq＝Iz(ξsgn(s)-ks)
the yaw moment output is:
8. the sliding-mode-control-based four-motor-driven FSAE racing car electronic differential algorithm according to claim 7, is characterized in that according to the following steps:
calculating the moment deviation of the left wheel and the right wheel required for obtaining the target yaw velocity, wherein tf，trAnd a is the front-rear wheel base and the distance from the center of mass to the front axle respectively, and R is the radius of the wheel.
9. The sliding-mode-control-based electronic differential algorithm for the four-motor-driven FSAE racing car is characterized in that the torque distribution formula is as follows:
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Application publication date: 20210907 |